#ifndef PDO_H
#define PDO_H
#include "stm32F4xx.h"
#include "HeaderFile.h"
/***********User Define Begin ***************/



/************User Define End *****************/




/***************User-defined Variable Type Begin ********************/




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/*****************User Function Void Begin***************/

void Pack_Speed_RPDO_ControlFrame(CANopen_Node_t *speedmotonode, Whole_SpeedMoto_t *moto,void (*packRPDOconrtolframe)(CANopen_Node_t* , Whole_SpeedMoto_t* ));

void Pack_Pos_RPDO_ControlFrame(CANopen_Node_t *posmotonode, PosTrialWorkPlace_t *wp_moto,Whole_PosMoto_t *pmoto ,void (*packRPDOconrtolframe)(CANopen_Node_t* , PosTrialWorkPlace_t*,Whole_PosMoto_t * ));

void Multiple_Pack_Speed_RPDO_ControlFrame(void);

void Multiple_Pack_Pos_RPDO_ControlFrame(void);

void TPDO_DataStoreAndAnalysis(CANopen_Node_t *node ,Whole_SpeedMoto_t *moto, Whole_PosMoto_t *posmoto, uint8_t *motodata_fb, uint8_t TPDO_num, uint8_t motoname);

void TPDO_NodeClassify(CANopen_Node_t *node ,Whole_SpeedMoto_t *moto, Whole_PosMoto_t *posmoto, uint32_t TPDO_id , uint8_t *motodata_fb, uint8_t TPDO_nuum);

/*****************User Function Void End***************/

#endif


